EP1515204A2 - Système de commande avec intelligence décentralisée - Google Patents

Système de commande avec intelligence décentralisée Download PDF

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Publication number
EP1515204A2
EP1515204A2 EP04104023A EP04104023A EP1515204A2 EP 1515204 A2 EP1515204 A2 EP 1515204A2 EP 04104023 A EP04104023 A EP 04104023A EP 04104023 A EP04104023 A EP 04104023A EP 1515204 A2 EP1515204 A2 EP 1515204A2
Authority
EP
European Patent Office
Prior art keywords
drive
bus
controller
interface
lines
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP04104023A
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German (de)
English (en)
Other versions
EP1515204B1 (fr
EP1515204A3 (fr
Inventor
Manfred Tinebor
Martin Ehlich
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Lenze Automation GmbH
Original Assignee
Lenze Drive Systems GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Lenze Drive Systems GmbH filed Critical Lenze Drive Systems GmbH
Publication of EP1515204A2 publication Critical patent/EP1515204A2/fr
Publication of EP1515204A3 publication Critical patent/EP1515204A3/fr
Application granted granted Critical
Publication of EP1515204B1 publication Critical patent/EP1515204B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0423—Input/output
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/25—Pc structure of the system
    • G05B2219/25323—Intelligent modules
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/25—Pc structure of the system
    • G05B2219/25335—Each module has connections to actuator, sensor and to a fieldbus for expansion
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/25—Pc structure of the system
    • G05B2219/25455—Buscouple interface can be integrated in actuator

Definitions

  • the invention relates to a bus-coupled drive system and a Method for operating such a drive system, wherein under a Drive system is to be understood at least one drive control, which at least activates an electric or hydraulic drive.
  • the one drive control itself includes a regulator and an actuator which provides power signals to Electric drive transmits to this to move or to brake cause.
  • An actuator is, for example, a converter or an inverter, which current or voltage signals of a first polyphase network in such a second drive network transmits, wherein the second drive network both a staggered Multi-voltage network, in particular a three-phase network, as well as a DC voltage network for driving DC motors may be.
  • a drive control and drives provided, wherein in each case a drive of a drive control so is assigned that the drive current-carrying drive lines between this Drive controller and the drive as, for example, electrical asynchronous or Synchronous motor are switched.
  • Several of these dual systems can be cascaded in placed an application, the motors, for example, mechanically are coupled so that they are electrically driven accordingly.
  • the invention is based on the technical problem (task), Reduce interfaces at the drive controller. At the same time a reliable Working method and the widest possible control and monitoring of each be controlled drive without the controller via manufacturer or application specific signal lines is connected directly to the motor.
  • the object is achieved with a bus-coupled drive system according to claim 1 or a method according to claim 10 or 12.
  • the claimed invention comes without operating data or operating signals transmitting connections between the motor and the controller, which usually have to meet a variety of standards, a variety of variants and therefore provide a great deal of versatility would need if for a variety of drives and corresponding transducers should be adapted.
  • the quantities to be supplied with a drive controller Dedicated interfaces can be reduced to near zero, as far as those Interfaces are addressed, which output side with the drive in Connection stand.
  • a single intended bus interface is the one Input interface on the drive controller, over which it anyway its setpoints and defaults, if necessary also other parameters from a higher-level control receives its own bus interface.
  • the drive itself with a Equipped with the same interface, which corresponds to the bus protocol, which also the drive controller has on its input interface.
  • the drive is closely associated with this bus interface, in particular into it installed (claim 1, claim 15), wherein as a receiving space for the interface of Terminal box or a separate mounting space can be used on the Engine is fixed.
  • a "motion bus” (claim 1), which a deterministic bus is, as far as the drive tasks in question to are fulfilled, the setpoints and measured values are transmitted, with the measured values first transferred from the engine to the motion bus as a control and data bus will be made available for collection.
  • the assigned one Regulator can use this bus to interrogate readings from the engine that it is on Output side via the actuator controls.
  • the same controller is also able to Operating signals, for example temperature values or rotational speed values (claim 4 or 5) from another drive via the same motion bus, without it separate connections or cross-couplings by attaching additional Lines are required which transmit the measuring signals of one motor to several controllers to distribute.
  • a bus is provided as the control and bus is suitable, a digital transmission of at least setpoints (to one, two or more drive controllers) and measured values (of the several Drives).
  • a suitable protocol is an Ethernet bus as an Ethernet IRT bus system, which is deterministic for the drive-specific tasks is to be considered. Multiprocessor capable, this bus is anyway.
  • each electrical drive is assigned a bus interface, which is a same protocol, which is described as "functionally the same” can be (claim 12).
  • This bus is over the bus protocol of a first connector on the drive to a second connector on one Common interface, such as a switch or router, a first connection provided and from the collection interface any second Connection to one of the controllers and their input interface, which same plug is.
  • two bus cables each with several wires used when an electrical bus coupling is applied (claim 12, Feature (i), claim 14), but it can also be optical fiber for the bus system be used, the connector points are then receptacles for fiber ends, for Coupling and decoupling of light signals.
  • the connector on the drive and the connector on the controller are the same designed.
  • the common interface of the bus connects all on Drive system involved controllers and drives, not just one Collective interface may be provided, but distributed over the drive system even several who are themselves connected via a same bus cable.
  • a higher-level control can be provided which also on any point in the bus system is coupled.
  • An embodiment of the bus as a bidirectional bus is understood that not the same signals are to be transmitted bidirectionally, but the signals as Control signals are given to the motor, for example, as a signal to Control of a brake on the engine (claim 7).
  • a leading alternative Signal as measurement signal from the motor to the bus (or continue to request Drive controller) is, for example, a temperature signal, so that the bus itself is bidirectional works, but not every signal itself must be configured bidirectional (claim 6).
  • the collection interface as a router or switch or hub creates connections from several bus cables and offers a variety of connector locations, it is not from The concern is which bus cable, respectively which bus participant, on which Plug is placed.
  • the unambiguous assignment is made by specifying Addresses of the bus participants at the respective bus participant, so that the interconnection not critical and easy about the connector points and the bus headers realize is.
  • a plug-in brings with it that it is pluggable, as an electrical interface or as an optical interface, while releasably receiving the line.
  • electrical bus is an electrical contact provided during insertion (claim 8).
  • the bus coupling makes it possible for any controller, from any one Drive to request measurement signals in digital form and delivered via the bus to get (claim 3, claim 10, claim 16).
  • a provision of such Measuring signal takes place via at least two bus interfaces, one Interface at the motor and an identical interface at the drive controller, whereby also At least two other bus interfaces can be involved if that at least a bus-collection interface is provided as a switch or router.
  • the bus itself also serves to transmit at least nominal values of one higher-level control, which is connected to the individual drive controllers via the bus be transmitted. These setpoints are not necessarily transmitted to the engine, but the bus is capable of transmitting them to the system controller.
  • control signals can also be transmitted via the bus, such as parameters of the Drive system, including limits and set values for the controller in the Drive controls.
  • control signals are understood to mean such signals, which have active function, so for example such a control signal for Activation (activation) of a brake in a respective drive. This is in turn transferred to the bus interface of the engine and there with decentralized Intelligence implemented in a corresponding actuator signal on the drive.
  • the drive system (claim 1, claim 10 or claim 12) is via the bus coupled.
  • Several drive controllers can exchange data on this bus, without a higher-level control. But it can also be a higher-level control Be provided (claim 17), which on one, two or more controllers (Claim 16) accesses and coordinates them. From at least two drive controls goes to claim 1.
  • claim 10 speaks of two preferred drive controllers, the control two motor drives. It is singled out that one of the Drive controller receives measured data from both drives via the bus, without mandatory Participation of the other drive controller.
  • Claim 12 is a drive controller out, which is coupled via a bus and two equal connector points with a drive is. At least a third drive controller may be provided (claim 16), the representative of a plurality of third drive controllers.
  • a motion bus 80 is provided in a first exemplary embodiment, which is a deterministic bus which connects various bus subscribers via a bus protocol.
  • the higher-level controller 1, two drive controllers 10, 20 and two drives M1 and M2 are provided as motor drives 15, 25, which are designed as induction machines, in the example asynchronous machines. They are driven by drive lines, which has larger cross-sections and is drive current-carrying capacity. In the example shown, in each case three phases are provided for controlling the rotary field motor 15 or 25.
  • control and data bus 80 is suitable, a digital transmission from at least setpoints to the drive controllers to the bus interfaces 17, 17 transfer. Measured values are also transmitted from the bus 80, starting from Interfaces 16,26, which are assigned to the drives 15,25.
  • the closely adjacent Assignment is chosen so that these interfaces with their electronic control in The motor are integrated respectively, for example in a terminal box or in a separate space for receiving electronic components.
  • a socket 16a is provided accessible, in which a bus cable 88 is inserted, with a connector 88b, which bus cable 88 with its other Connector 88a, the two connectors are identical, in a socket 90a or 90b of a collection interface 90 is inserted.
  • the bus 80 operates with a specific protocol, which depends on the selected Bus is specified. All bus participants 1,10,20,15,25 operate this protocol functionally identical.
  • FIG. 2 illustrates a detail of the described bus coupling via the one bus cable 88 from the first motor 15 to the collection interface 90 as a preferred switch.
  • Each bus connector has a group of lines, preferably six to eight lines, which, in the case of an electrically conductive bus structure, are capable of reliably and reliably also carrying the data signals transmitted over the bus over long distances.
  • the bus cable 88 has identical connectors on both sides. It does not matter which Receiving socket 90a or 90b, the bus cable 88 with its plug 88a in the Common interface 90 is inserted after the set addresses of the bus station Specify 15 in the provided there bus interface 16, as in the Bus 80 can be reached.
  • the bus interfaces 17 of the first drive controller 10 and 27 of the second Drive controller 20 are only examples. Any number of others Drive controllers can be added, which also control drives, such as can also perform other tasks in the network of the drive system.
  • the general structure of Figures 1 and 2 describes the "motion bus" 80 with its collection interface 90, of which several may be arranged distributed over the bus.
  • the motion bus can work, for example, as an Ethernet IRT bus with an associated, known protocol. All interfaces adhere to this functionally identical protocol, at least in the context of the drive tasks, but may also have different specifications in individual cases, provided these are not used in the bus transmission.
  • a photographic identity of the bus protocol need not be present, only a function identity in the context of the transmission protocol used with the commands used.
  • Measured values originating from the drive 15 or 25 can be read by the drive controller 10 or 20 queried via the bus and the assigned address of the respective drive become. To transfer the measured value, the path leads from the interface 16 am Drive via the collection interface 90, the bus cable 81 and the interface 17 to the controller.
  • a control signal determines and specified, which the engine over the multi-phase current carrying drive line is supplied.
  • the motor 15 associated with the controller 10th not only data of its associated motor via the bus coupling 17 (the bus 80) can receive, but also operating signals, such as signals over temperature or speed, from other engines, such as the engine 25, as the "drive-away” engine should be referred to, based on the "drive close” drive 15 am Drive controller 10.
  • the drive controller 20 is the drive close drive 25, while the drive remote drive that of the drive controller 10, so the drive 15th
  • the bus conception 80 allows the omission of all dedicated interfaces the drive controllers 10,20 and thus also falls a versatility such manufacturer-specific interfaces away.
  • the only intended interface is over the bus 80, includes only standardized, same bus interfaces and is alike on the drive controller and on the drive (the motor in motor and generator Operation or the generator in pure generator operation) provided.
  • the quantity of interfaces to be supplied on a standard drive controller 10 or 20 is drastically reduced. There will also be improved spatial routing allows the connection to the bus at any point possible makes, where one of several collection interfaces 90 is arranged. These Interfaces no longer have to be on the board or module of the module Drive controller 10 may be provided, but can be completely detached from this be provided anywhere in the system application.
  • the signals routed via the bus are initially signals in one direction, ie from Motor 15 to a drive controller 10 or 20, alternatively from the controller 1 via its bus interface 2 as a setpoint to one or more of the drive controller 10th or 20.
  • control signals for controlling, for example, brakes are one-way signals. They can be triggered by either the drive controller 10 or 20 too the respective motor 15 or 25 via the bus 80, when the respective engine a provided brake, which responds to the control signal, in particular a pure mechanically acting brake. But after the line 88 to the engine and the engine back in two directions has digital signals to guide how the control signal to Switching on the brake or the measuring signal to detect the temperature of the Motors, one speaks of a bidirectional bus, which signals in both directions D is transmitted.
  • the bus does not represent a point-to-point connection here, but instead forms a networked system at which each bus subscriber to each bus subscriber can connect. Instead of a variety of different interfaces different manufacturers, there is only one kind of interface, which in the example of the Figure 1 is the bus interface 17,27,26,16,2.
  • the interface of the drive controller is "the same” interface as that of the Drive.
  • the interface itself has a natural course to the respective electronics Motor or drive adapted evaluation and internal control, but this occurs outward over the respective system as a "bus participant" not out.
  • the held in the drives “decentralized intelligence” can through a there provided computing unit (processor) are provided, the respective Interface 16 or 26 operated with drive 15 or 25 and the one from - not here separately presented - supplied sensors and for the Communication interface and the test protocol provides.
  • the drive system control commands are received by the drive system control commands and from evaluated the arithmetic unit, which at the decentralized location for the activation of For example, a brake, the specification of a braking torque, a pulse lock, the specification of current values or the control of a forced cooling fan serve.
  • a brake the specification of a braking torque
  • a pulse lock the specification of current values or the control of a forced cooling fan serve.
  • the Drive can thus assume the tasks relevant to him independently.
  • FIG. 1 An example of data traffic in such a system with two drives and two drive controllers is shown in the following table. It is assumed that the drive controller operate a drive axle and a slave axle and a higher-level controller 1 is provided, which is illustrated in FIG. As an actuator, an inverter is provided, the drives are three-phase motors. The reference symbols from FIG. 1 are adopted for the table.
  • FIG. 3 illustrates a concrete build-up circuit with three drive controllers and three electrically operated motors via a bus controller 80.
  • a drive controller 10 or 20 or 30 each has a systematic design, the drive control 10 initially being started.
  • the drive control 10 has a bus interface 17, at least one controller 11 and an actuator 12, with which actuator an electric drive 15 is operated.
  • About the actuator 12 of the associated here drive 15 is operated, held in the motor or generator mode, braked or accelerated or controlled or regulated with respect to the situation.
  • the controller section 11 can also have a plurality of controllers (in cascade or parallel structure) which have different tasks.
  • a speed controller can be used, including a speed measurement should be done, which is coupled to the drive shaft (the output) of the drive 15 and can be configured as a tachometer, as a resolver or as an incremental encoder.
  • a speed measurement should be done, which is coupled to the drive shaft (the output) of the drive 15 and can be configured as a tachometer, as a resolver or as an incremental encoder.
  • different output signals may arise, which, however, are not fed back to the drive controller via a dedicated interface, but are explained to it via the bus 80 as described in the beginning and explained in more detail later.
  • the transmission of actuating signals to the actuator takes place via drive lines A with such a high cross-sectional design that they Drive current and braking current can transmit without significant losses.
  • Drive lines are designated A in the first drive control. They are attacking the terminal box of the motor and on corresponding screw terminals or Cable lugs on the controller. Usually a shielded line is due to the high Frequencies used in a converter.
  • the drive control 20 with the her associated drive 25 constructed, as well as the third drawn Drive control 30 with its associated motor 35 as a third drive.
  • comparable current-carrying drive lines B are used, here as lines B in one second three-phase system.
  • the drives 15,25 and 35 have interfaces 16,26 and 36, which in them are installed, so they are assigned closely adjacent, be it installed or grown or provided in the immediate vicinity.
  • These interfaces 16,26 and 36 are identically constructed as the interfaces 17, 27 and 37. Symbolic all these interfaces placed on a common bus 80, the example of 1 was described with a common interface. The logical interconnection of the bus 80 shows the figure 3, the physical structure of the bus 80 shows the FIG. 1
  • bus 80 To control the system, setpoints are sent via bus 80 into or between transmitted at least three drives. There may also be other drives or separate Controls are provided, wherein the bus lines are cables, which is a group of Single cores together, for example, four, six or eight cores for a bus line. The bus lines were in the reference numeral area 80 in FIG. 1 explained.
  • Control signals can be transmitted via the bus to the motors, for example brakes be initiated by either one or more of the controllers or the Control 1. Measured values of the motors, for example the mentioned speeds They are measured there, converted digitally and transferred to a bus protocol to them accessible via the bus 80 for at least one or more of the controllers shape.
  • the drive close to the drive with the assigned Drive lines A (motor 15, control 10) to mention.
  • the others, too Drive controls 20 or 30 can on the speed signal of the motor 15 via to access its bus interface 16.
  • FIG. 3 also lacks any signal connection in the measuring signal range (rotational speed, Temperature or location), which with a dedicated interface of a respective Drive directly to the output side of the drive controller and from there via the board the control structure back (controller 11,21 or 31) is performed. These signals are routed digitally over the bus 80 and thus run over at least two, prefers four or more interfaces, all of which have the same structure.
  • temperature measurements on the drives 15, 25 or 35 which either the stator or the rotor, the Winding or the bearings may affect.
  • These temperature signals will be implemented, on a digital signal, in a circuit that the engine is assigned directly and then via the bus interface 16 for the bus 80 and all bus participants made accessible. It is understood that this implementation according to the protocol of the bus, which is superordinate to specific Manufacturer's standards of drive controllers, motors or temperature sensors purely from Data technology is specified.
  • a speed signal can also be measured in the motors 15, 25 and 35 which is converted digitally and then via the implementation as the bus supplied in accordance with the protocol, can be called up by all bus subscribers.
  • the control electronics to enable the retrievability is the respective Drive directly assigned, as well as the associated interface with the s.den Protocol adapted digital data conversion.
  • the bus subscriber thus formed An address is uniquely assigned in the bus system, via which the data is retrievable or to which the control signals are transmitted for execution in the engine.
  • the signals transmitted to the bus are sent to where they are requested Influence on the control of the drive used without these Measurement signals previously in a different way to the controller for evaluation were transmitted.
  • the transmission over the bus represents the evaluated Initial information that is used in process control operation.
  • the motors described as electric drives can also hydraulic drives be. Accordingly, the controllers are then tuned to the hydraulics.
  • the drive current carrying drive lines A, B and C are then valve-controlled Hydraulic lines and the bus interfaces 16, 26, 36 are at the respective hydraulic drive provided immediately.
  • the bus 80 may be either electrically configured or operate via optical fibers.
  • optical connectors are used for Plug-in and detachable mounting of the fiber ends of optical fibers.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Multiple Motors (AREA)
EP20040104023 2003-08-21 2004-08-20 Système de commande avec intelligence décentralisée Expired - Lifetime EP1515204B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE2003138514 DE10338514B4 (de) 2003-08-21 2003-08-21 Antriebssystem mit dezentraler Intelligenz
DE10338514 2003-08-21

Publications (3)

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EP1515204A2 true EP1515204A2 (fr) 2005-03-16
EP1515204A3 EP1515204A3 (fr) 2006-11-08
EP1515204B1 EP1515204B1 (fr) 2012-05-30

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Cited By (2)

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CN114466255A (zh) * 2022-01-26 2022-05-10 卧龙电气驱动集团股份有限公司 一种通讯转接设备及其通讯档位兼容电路
CN114578790A (zh) * 2022-03-04 2022-06-03 沃飞长空科技(成都)有限公司 一种无人机飞控自动测试方法、系统、设备和介质

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DE102021208788A1 (de) 2021-08-11 2023-02-16 Zf Friedrichshafen Ag Datenkonverter für eine elektrische Antriebsmaschine

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DE19708985C1 (de) * 1997-03-05 1998-10-08 Siemens Ag Verfahren und Vorrichtung zur Aufrechterhaltung eines winkelgenauen Gleichlaufs einzelner vernetzter Antriebe eines dezentralen Antriebssystems
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114466255A (zh) * 2022-01-26 2022-05-10 卧龙电气驱动集团股份有限公司 一种通讯转接设备及其通讯档位兼容电路
CN114466255B (zh) * 2022-01-26 2023-09-26 卧龙电气驱动集团股份有限公司 一种通讯转接设备及其通讯档位兼容电路
CN114578790A (zh) * 2022-03-04 2022-06-03 沃飞长空科技(成都)有限公司 一种无人机飞控自动测试方法、系统、设备和介质
CN114578790B (zh) * 2022-03-04 2024-05-14 四川傲势科技有限公司 一种无人机飞控自动测试方法、系统、设备和介质

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EP1515204B1 (fr) 2012-05-30
DE10338514A1 (de) 2005-03-24
DE10338514B4 (de) 2013-09-19
EP1515204A3 (fr) 2006-11-08

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